Press on Button to start the simulation.
What is SiriusSirius - Simulation of robots in unknown streets - is an application to simulate a robot that is searching for a target inside a special type of polygons called streets. Usage of Sirius is explained on this page.
Usage of Sirius
Example of the Sirius Application
The Sirius window consists of four major areas:
- On top are the menubar and the quickbutton bar. The menubutton gives you access to all of the StreetGUI functions. The quickbutton bar gives you fast access to some of the menu entries.
- To the left is the main editor window. This is where the polygon can be edited and the start and target point of the robot are defined.
- To the right is the robot output window. This is where the robots will write informational messages while walking around in the street.
- At the bottom is the status line where important messages are displayed.
Editing the polygonTo edit the polygon, simply add vertices by clicking the mouse at the coordinates where you want a new vertex to be added. Edges will be added automatically. The polygon will allways be a closed Polygon. You will notice that two polygon vertices are marked in green instead of red. The new point will be added between these two vertices. To insert vertices between two other vertices, first change the insertion pair by clicking on one of the desired points.
When the robot is set to Target Step Mode, the polygon will be tested to be a valid street while editing. Vertices that would make the polygon invalid will not be added. You can add invalid vertices when the robot is in Event Step Mode or Micro Step Mode. Before starting the robot, the polygon will be tested to be a valid street. You can always test by selecting Arena/Validate from the menu.
You can delete a vertex by clicking on it with the right mouse button. You can also move a vertex by left clicking and dragging it to the desired position.
Moving start and target PointThe start and/or target point initially position on the edge of the polygon when the polygon is a valid street for the first time and the robot is set to target step mode. When the robot is set to micro or event step mode, the start and target points are set when the validate function is executed. Start and target points can be moved by clicking and dragging them with the mouse. When the robot is set to target step mode, the valid areas on the edge of the polygon are shown in black color, while invalid areas are shown in gray. The target point can not be moved outside of the current valid area, but when moving the start point out of the current valid area, the area may change to the next valid area. When this happens, the target point may also be moved to the corresponding valid region.
When the robot is set to micro or event step mode, no region checking is done, so the start and/or target points may be moved around freely, in fact they can even be moved off the polygons edge. Before starting the robot, both start and target point will be moved to the nearest available valid area automatically.
The robot step modesRobots can be set to three different step modes. These modes are:
- Target step mode: When in target step mode, the robot will automatically start after an editing operation such as adding a vertex to the polygon or moving the start point has been performed. The entire robot path will be calculated and the path will be printed to the screen only when the robot has reached the target point. This enables the user to imediately check the results of the editing action on the robots path.
- Event step mode: When in event step mode, the robot will redraw it's path whenever it detects a new event it has to react on. When watched on the screen, the movement of the robot will look like a kind of jumping from one point to the other. This mode is faster than the micro step mode.
- Micro step mode: When set to micro step mode, the robot will redraw it's path after doing just a small step. This will allow the user to follow the progress of the robot on the screen and to examine the decisions made closely.